Autoware.Auto
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Functions | |
TRAJECTORY_FOLLOWER_PUBLIC bool8_t | isValidTrajectory (const Trajectory &traj) |
check if trajectory is invalid or not More... | |
TRAJECTORY_FOLLOWER_PUBLIC float64_t | calcStopDistance (const Point ¤t_pos, const Trajectory &traj) |
calculate distance to stopline from current vehicle position where velocity is 0 More... | |
TRAJECTORY_FOLLOWER_PUBLIC float64_t | getPitchByPose (const Quaternion &quaternion) |
calculate pitch angle from estimated current pose More... | |
TRAJECTORY_FOLLOWER_PUBLIC float64_t | getPitchByTraj (const Trajectory &trajectory, const size_t closest_idx, const float64_t wheel_base) |
calculate pitch angle from trajectory on map NOTE: there is currently no z information so this always returns 0.0 More... | |
TRAJECTORY_FOLLOWER_PUBLIC float64_t | calcElevationAngle (const TrajectoryPoint &p_from, const TrajectoryPoint &p_to) |
calculate elevation angle More... | |
TRAJECTORY_FOLLOWER_PUBLIC Pose | calcPoseAfterTimeDelay (const Pose ¤t_pose, const float64_t delay_time, const float64_t current_vel) |
calculate vehicle pose after time delay by moving the vehicle at current velocity for delayed time More... | |
TRAJECTORY_FOLLOWER_PUBLIC Quaternion | lerpOrientation (const Quaternion &o_from, const Quaternion &o_to, const float64_t ratio) |
apply linear interpolation to orientation More... | |
template<class T > | |
TRAJECTORY_FOLLOWER_PUBLIC TrajectoryPoint | lerpTrajectoryPoint (const T &points, const Point &point) |
apply linear interpolation to trajectory point that is nearest to a certain point More... | |
TRAJECTORY_FOLLOWER_PUBLIC float64_t | applyDiffLimitFilter (const float64_t input_val, const float64_t prev_val, const float64_t dt, const float64_t lim_val) |
limit variable whose differential is within a certain value More... | |
TRAJECTORY_FOLLOWER_PUBLIC float64_t | applyDiffLimitFilter (const float64_t input_val, const float64_t prev_val, const float64_t dt, const float64_t max_val, const float64_t min_val) |
limit variable whose differential is within a certain value More... | |
float64_t | lerp (const float64_t v_from, const float64_t v_to, const float64_t ratio) |
float64_t autoware::motion::control::trajectory_follower::longitudinal_utils::applyDiffLimitFilter | ( | const float64_t | input_val, |
const float64_t | prev_val, | ||
const float64_t | dt, | ||
const float64_t | lim_val | ||
) |
limit variable whose differential is within a certain value
[in] | input_val | current value |
[in] | prev_val | previous value |
[in] | dt | time between current and previous one |
[in] | lim_val | limitation value for differential |
float64_t autoware::motion::control::trajectory_follower::longitudinal_utils::applyDiffLimitFilter | ( | const float64_t | input_val, |
const float64_t | prev_val, | ||
const float64_t | dt, | ||
const float64_t | max_val, | ||
const float64_t | min_val | ||
) |
limit variable whose differential is within a certain value
[in] | input_val | current value |
[in] | prev_val | previous value |
[in] | dt | time between current and previous one |
[in] | max_val | maximum value for differential |
[in] | min_val | minimum value for differential |
float64_t autoware::motion::control::trajectory_follower::longitudinal_utils::calcElevationAngle | ( | const TrajectoryPoint & | p_from, |
const TrajectoryPoint & | p_to | ||
) |
calculate elevation angle
Pose autoware::motion::control::trajectory_follower::longitudinal_utils::calcPoseAfterTimeDelay | ( | const Pose & | current_pose, |
const float64_t | delay_time, | ||
const float64_t | current_vel | ||
) |
calculate vehicle pose after time delay by moving the vehicle at current velocity for delayed time
float64_t autoware::motion::control::trajectory_follower::longitudinal_utils::calcStopDistance | ( | const Point & | current_pos, |
const Trajectory & | traj | ||
) |
calculate distance to stopline from current vehicle position where velocity is 0
float64_t autoware::motion::control::trajectory_follower::longitudinal_utils::getPitchByPose | ( | const Quaternion & | quaternion | ) |
calculate pitch angle from estimated current pose
float64_t autoware::motion::control::trajectory_follower::longitudinal_utils::getPitchByTraj | ( | const Trajectory & | trajectory, |
const size_t | closest_idx, | ||
const float64_t | wheel_base | ||
) |
calculate pitch angle from trajectory on map NOTE: there is currently no z information so this always returns 0.0
[in] | trajectory | input trajectory |
[in] | closest_idx | nearest index to current vehicle position |
[in] | wheel_base | length of wheel base |
bool autoware::motion::control::trajectory_follower::longitudinal_utils::isValidTrajectory | ( | const Trajectory & | traj | ) |
check if trajectory is invalid or not
float64_t autoware::motion::control::trajectory_follower::longitudinal_utils::lerp | ( | const float64_t | v_from, |
const float64_t | v_to, | ||
const float64_t | ratio | ||
) |
Quaternion autoware::motion::control::trajectory_follower::longitudinal_utils::lerpOrientation | ( | const Quaternion & | o_from, |
const Quaternion & | o_to, | ||
const float64_t | ratio | ||
) |
apply linear interpolation to orientation
[in] | o_from | first orientation |
[in] | o_to | second orientation |
[in] | ratio | ratio between o_from and o_to for interpolation |
TRAJECTORY_FOLLOWER_PUBLIC TrajectoryPoint autoware::motion::control::trajectory_follower::longitudinal_utils::lerpTrajectoryPoint | ( | const T & | points, |
const Point & | point | ||
) |
apply linear interpolation to trajectory point that is nearest to a certain point
[in] | points | trajectory points |
[in] | point | Interpolated point is nearest to this point. |